Systems and methods for compensating for electrical converter nonlinearities

ABSTRACT

Systems and methods are provided for delivering energy from an input interface to an output interface. An electrical system includes an input interface, an output interface, an energy conversion module coupled between the input interface and the output interface, and a control module. The control module determines a duty cycle control value for operating the energy conversion module to produce a desired voltage at the output interface. The control module determines an input power error at the input interface and adjusts the duty cycle control value in a manner that is influenced by the input power error, resulting in a compensated duty cycle control value. The control module operates switching elements of the energy conversion module to deliver energy to the output interface with a duty cycle that is influenced by the compensated duty cycle control value.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT

This invention was made with Government support under Agreement No. DE-FC26-07NT43123, awarded by the United States Department of Energy. The Government has certain rights in this invention.

TECHNICAL FIELD

Embodiments of the subject matter described herein relate generally to electrical systems in automotive vehicles, and more particularly, embodiments of the subject matter relate to bidirectional energy delivery systems with galvanic isolation.

BACKGROUND

Matrix converters may be used in electric and/or hybrid vehicles to accommodate delivery of relatively high power over a relatively wide range of operating voltages, while at the same time achieving galvanic isolation, relatively high power factors, low harmonic distortion, relatively high power density and low cost. For example, bidirectional isolated matrix converters may be used to deliver energy from an alternating current (AC) energy source, such as the single-phase grid electricity common in most residential and commercial buildings, to charge a direct current (DC) energy storage element, such as a rechargeable battery, in a vehicle. However, nonlinear power losses attributable to components of the matrix converter, such as transistor switches or diodes, may limit the accuracy and effectiveness of existing control strategies.

BRIEF SUMMARY

In accordance with one embodiment, an electrical system is provided. The electrical system includes an input interface, an output interface, an energy conversion module coupled between the input interface and the output interface, and a control module coupled to the energy conversion module, the input interface, and the output interface. The energy conversion module includes one or more switching elements. The control module is configured to determine a duty cycle control value for operating the energy conversion module to produce a desired voltage at the output interface. The control module determines an input power error at the input interface and adjusts the duty cycle control value in a manner that is influenced by the input power error, resulting in a compensated duty cycle control value. The control module operates the switching elements of the energy conversion module to deliver energy to the output interface with a duty cycle that is influenced by the compensated duty cycle control value.

In accordance with another embodiment, a method is provided for using an energy conversion module to deliver energy from an input interface to an output interface. The method comprises the steps of determining an input power reference for the input interface based on a desired output voltage at the output interface and determining a duty cycle control value based on the input power reference. The method continues by determining an input power error based on a difference between an estimated input power at the input interface and the input power reference, adjusting the duty cycle control value in a manner that is influenced by the input power error to obtain a compensated duty cycle control value, and operating one or more switching elements of the energy conversion module to deliver energy from the input interface to the output interface with a duty cycle influenced by the compensated duty cycle control value.

In another embodiment, an electrical system is provided. The electrical system comprises a DC interface, an AC interface, an isolation module including a first set of windings magnetically coupled to a second set of windings, a first energy conversion module coupled between the DC interface and the first set of windings, a second conversion module coupled to the second set of windings, an inductive element coupled between the second conversion module and the AC interface, and a control module coupled to the second conversion module. The control module is configured to determine an input power reference for producing a desired voltage at the DC interface based on the desired voltage and a measured voltage at the DC interface, determine an input power error at the AC interface based on a difference between an estimated input power at the AC interface and the input power reference, and determine a compensated pulse-width modulation (PWM) duty cycle control value for operating the first energy conversion module based on the input power reference and the input power error. The control module operates switches of the second conversion module in accordance with the compensated PWM duty cycle control value.

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the subject matter may be derived by referring to the detailed description and claims when considered in conjunction with the following figures, wherein like reference numbers refer to similar elements throughout the figures.

FIG. 1 is a schematic view of a electrical system suitable for use in a vehicle in accordance with one embodiment;

FIG. 2 is a block diagram of a control system suitable for use with the electrical system of FIG. 1 in accordance with one embodiment; and

FIG. 3 is a flow diagram of control process suitable for use with the electrical system of FIG. 1 in accordance with one embodiment.

DETAILED DESCRIPTION

The following detailed description is merely illustrative in nature and is not intended to limit the embodiments of the subject matter or the application and uses of such embodiments. As used herein, the word “exemplary” means “serving as an example, instance, or illustration.” Any implementation described herein as exemplary is not necessarily to be construed as preferred or advantageous over other implementations. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description.

Technologies and concepts discussed herein relate generally to electrical converters capable of delivering energy from an alternating current (AC) interface to a direct current (DC) interface. As described in greater detail below, a feedforward control scheme is used to determine an input voltage reference for the input voltage at the AC interface based on a desired output voltage at the DC interface and a measured voltage at the DC interface, and a pulse-width modulation (PWM) duty cycle control value for operating the electrical converter is determined based on a ratio of the input voltage reference to the measured voltage at the DC interface. In an exemplary embodiment, the PWM duty cycle control value is scaled using a compensation scaling factor that decreases the PWM duty cycle control value in a manner that accounts for component power losses.

FIG. 1 depicts an exemplary embodiment of an electrical system 100 (or alternatively, a charging system, charger or charging module) suitable for use in a vehicle, such as, for example, an electric and/or hybrid vehicle. The electrical system 100 includes, without limitation, a first interface 102, a first energy conversion module 104, an isolation module 106, a second energy conversion module 108, an inductive element 110, a capacitive element 112, a second interface 114, and a control module 116. The first interface 102 generally represents the physical interface (e.g., terminals, connectors, and the like) for coupling the electrical system 100 to a DC energy source 118 and the second interface 114 generally represents the physical interface (e.g., terminals, connectors, and the like) for coupling the electrical system 100 to an AC energy source 120. Accordingly, for convenience, the first interface 102 may be referred to herein as the DC interface and the second interface 114 may be referred to herein as the AC interface. In an exemplary embodiment, the control module 116 is coupled to the energy conversion modules 104, 108 and operates the energy conversion modules 104, 108 to deliver energy (or power) from the AC energy source 120 to the DC energy source 118 to achieve a desired DC output voltage (V_(REF)) at the DC interface 102, as described in greater detail below.

In an exemplary embodiment, the DC energy source 118 (or alternatively, the energy storage source or ESS) is capable of receiving a direct current (indicated by arrow 150) from the electrical system 100 at a particular DC voltage level (indicated by arrow 160). In accordance with one embodiment, the DC energy source 118 is realized as a rechargeable high-voltage battery pack having a nominal DC voltage range from about 200 to about 500 Volts DC. In this regard, the DC energy source 118 may comprise the primary energy source for another electrical system and/or an electric motor in a vehicle. For example, the DC energy source 118 may be coupled to a power inverter that is configured to provide voltage and/or current to the electric motor, which, in turn, may engage a transmission to drive the vehicle in a conventional manner. In other embodiments, the DC energy source 118 may be realized as a battery, an ultracapacitor, or another suitable energy storage element.

The AC energy source 120 (or power source) is configured to provide an AC current (indicated by arrow 170) to the electrical system 100 at a particular AC voltage level (indicated by arrow 180) and may be realized as a main power supply or main electrical system for a building, residence, or another structure within an electric power grid (e.g., mains electricity or grid power). In accordance with one embodiment, the AC energy source 120 comprises a single-phase power supply, as is common to most residential structures, which varies depending on the geographic region. For example, in the United States, the AC energy source 120 may be realized as 120 Volts (RMS) or 240 Volts (RMS) at 60 Hz, while in other regions the AC energy source 120 may be realized as 110 Volts (RMS) or 220 Volts (RMS) at 50 Hz. In alternative embodiments, the AC energy source 120 may be realized as any AC energy source suitable for operation with the electrical system 100.

As described in greater detail below, the DC interface 102 is coupled to the first energy conversion module 104 and the AC interface 114 is coupled to the second energy conversion module 108 via the inductive element 110. The isolation module 106 is coupled between the energy conversion modules 104, 108 and provides galvanic isolation between the two energy conversion modules 104, 108. The control module 116 is coupled to the energy conversion modules 104, 108 and operates the second energy conversion module 108 to convert energy from the AC energy source 120 to high-frequency energy across the isolation module 106 which is then converted to DC energy at the DC interface 102 by the energy conversion module 104. It should be understood that although the subject matter may be described herein in the context of a grid-to-vehicle application (e.g., the AC energy source 120 delivering energy to the DC energy source 118) for purposes of explanation, in other embodiments, the subject matter described herein may be implemented and/or utilized in vehicle-to-grid applications (e.g., the DC energy source 118 delivering energy to the AC interface 114 and/or AC energy source 120). For convenience, but without limitation, the AC interface 114 may alternatively be referred to herein as the input interface and the DC interface 102 may alternatively be referred to herein as the output interface in the context of a grid-to-vehicle application.

In order to deliver energy to (or charge) the DC energy source 118, the first energy conversion module 104 converts the high-frequency energy at nodes 122, 124 to DC energy that is provided to the DC energy source 118 at the DC interface 102. In this regard, the first energy conversion module 104 operates as a rectifier when converting high frequency AC energy to DC energy. In the illustrated embodiment, the first energy conversion module 104 comprises four switching elements 9-12 with each switching element having a diode 29-32 configured antiparallel to the respective switching element to accommodate bidirectional energy delivery. As shown, a capacitor 126 is configured electrically in parallel across the DC interface 102 to reduce voltage ripple at the DC interface 102, as will be appreciated in the art.

In an exemplary embodiment, the switching elements 9-12 are transistors, and may be realized using any suitable semiconductor transistor switch, such as a insulated gate bipolar transistor (IGBT), a field-effect transistor (e.g., a MOSFET or the like), or any other comparable device known in the art. The switches and diodes are antiparallel, meaning the switch and diode are electrically in parallel with reversed or inverse polarity. The antiparallel configuration allows for bidirectional current flow while blocking voltage unidirectionally, as will be appreciated in the art. In this configuration, the direction of current through the switches is opposite to the direction of allowable current through the respective diodes. The antiparallel diodes are connected across each switch to provide a path for current to the DC energy source 118 for charging the DC energy source 118 when the respective switch is off.

In the illustrated embodiment, switch 9 is connected between node 128 of the DC interface 102 and node 122 and configured to provide a path for current flow from node 128 to node 122 when switch 9 is closed. Diode 29 is connected between node 122 and node 128 and configured to provide a path for current flow from node 122 to node 128 (e.g., diode 29 is antiparallel to switch 9). Switch 10 is connected between node 130 of the DC interface 102 and node 122 and configured to provide a path for current flow from node 122 to node 130 when switch 10 is closed, while diode 30 is connected between node 122 and node 130 and configured to provide a path for current flow from node 130 to node 122. In a similar manner, switch 11 is connected between node 128 and node 124 and configured to provide a path for current flow from node 128 to node 124 when switch 11 is closed, diode 31 is connected between node 124 and the DC interface 102 and configured to provide a path for current flow from node 124 to node 128, switch 12 is connected between node 130 and node 124 and configured to provide a path for current flow from node 124 to node 130 when switch 12 is closed, and diode 32 is connected between node 124 and the DC interface 102 and configured to provide a path for current flow from the node 130 to node 124.

In an exemplary embodiment, the second energy conversion module 108 facilitates the flow of current (or energy) from the AC energy source 120 and/or inductive element 110 to the isolation module 106. In the illustrated embodiment, the second energy conversion module 108 is realized as a front end single-phase matrix conversion module comprising eight switching elements 1-8 with each switching element having a diode 21-28 configured antiparallel to the respective switching element, in a similar manner as set forth above in regards to the first energy conversion module 104. For convenience, but without limitation, the second energy conversion module 108 may alternatively be referred to herein as a matrix conversion module. As described in greater detail below, the control module 116 modulates (e.g., opens and/or closes) the switches 1-8 of the matrix conversion module 108 in accordance with a PWM duty cycle control value to produce a high-frequency voltage at nodes 134, 136 that results in a power flow to the DC interface 102 and/or DC energy source 118 intended to achieve a desired output voltage at the DC interface 102.

In the illustrated embodiment of FIG. 1, a first pair of switches 1, 2 and diodes 21, 22 are coupled between node 132 and node 134, with the first pair of switch and antiparallel diode (e.g., switch 1 and diode 21) being configured with opposite polarity to the second pair of switch and antiparallel diode (e.g., switch 2 and diode 22). In this manner, switch 1 and diode 22 are configured to provide a path for current flow from node 134 through switch 1 and diode 22 to node 132 when switch 1 is closed, turned on, or otherwise activated and the voltage at node 134 is more positive than the voltage at node 132. Switch 2 and diode 21 are configured to provide a path for current flow from node 132 through switch 2 and diode 21 to node 134 when switch 2 is closed, turned on, or otherwise activated and the voltage at node 132 is more positive than the voltage at node 134. In a similar manner, a second pair of switches 3, 4 and diodes 23, 24 are coupled between node 136 and node 138, a third pair of switches 5, 6 and diodes 25, 26 are coupled between node 132 and node 136, and a fourth pair of switches 7, 8 and diodes 27, 28 are coupled between node 134 and node 138.

In the illustrated embodiment, switches 1, 3, 5, and 7 comprise a first set of switches which are capable of commutating the current through the inductive element 110 (i_(L)) (indicated by arrow 190) from node 138 to node 132 when the current through the inductive element 110 is flowing in a negative direction (e.g., i_(L)<0) and switches 2, 4, 6, and 8 comprise a second set of switches that are capable of commutating the current through the inductive element 110 from node 132 to node 138 when the current through the inductive element 110 is flowing in a positive direction (e.g., i_(L)0), as described in greater detail below. In other words, switches 1, 3, 5, 7 are capable of conducting at least a portion of current flowing in a negative direction through the inductive element 110 (e.g., i_(L)<0) and switches 2, 4, 6, 8 are capable of conducting at least a portion of current flowing in a positive direction through the inductive element 110 (e.g., i_(L)>0). As used herein, commutating should be understood as the process of cycling the current through the inductive element 110 through switches and diodes of the matrix conversion module 108 such that the flow of current through the inductive element 110 is not interrupted.

In an exemplary embodiment, the isolation module 106 comprises a first set of windings 144 connected between nodes 122, 124 of the first energy conversion module 104 and a second set of windings 146 connected between nodes 134, 136. For purposes of explanation, the windings 146 may be referred to herein as comprising the primary winding stage (or primary windings) and the sets of windings 144 may be referred to herein as comprising the secondary winding stage (or secondary windings). The windings 144, 146 provide inductive elements that are magnetically coupled in a conventional manner to form a transformer, as will be appreciated in the art. In an exemplary embodiment, the isolation module 106 is realized as a high-frequency transformer. In this regard, the isolation module 106 comprises a transformer designed for a particular power level at a high-frequency, such as the switching frequency of the switches of the energy conversion modules 104, 108 (e.g., 50 kHz), resulting in the physical size of the transformer being reduced relative to a transformer designed for the same power level at a lower frequency, such as the frequency of the AC energy source 120 (e.g., the mains frequency).

In an exemplary embodiment, the inductive element 110 is realized as an inductor configured electrically in series between node 132 of the matrix conversion module 108 and a node 140 of the AC interface 114. Accordingly, for convenience, but without limitation, the inductive element 110 is referred to herein as an inductor. The inductor 110 functions as a high-frequency inductive energy storage element during operation of the electrical system 100. The capacitive element 112 is realized as a capacitor coupled between node 140 and node 142 of the AC interface 114, that is, the capacitor 112 is configured electrically parallel to the AC interface 114. The capacitor 112 and inductor 110 are cooperatively configured to provide a high frequency filter to minimize voltage ripple at the AC interface 114 attributable to modulating switches 1-8.

The control module 116 generally represents the hardware, firmware and/or software configured to operate and/or modulate the switches of the energy conversion modules 104, 108 to achieve a desired power flow from the AC energy source 120 to the DC energy source 118. Depending on the embodiment, the control module 116 may be implemented or realized with a general purpose processor, a microprocessor, a microcontroller, a content addressable memory, a digital signal processor, an application specific integrated circuit, a field programmable gate array, any suitable programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof, designed to support and/or perform the functions described herein.

During normal operation for grid-to-vehicle applications, the control module 116 determines PWM command signals that control the timing and duty cycles of the switches 1-8 of the matrix conversion module 108 to produce a high-frequency AC voltage across the primary windings 146 of the isolation module 106. The high-frequency AC voltage across the primary windings 146 induces a voltage across the secondary windings 144 at nodes 122, 124 that results in a desired current flowing to the DC interface 102 to charge or otherwise deliver energy to the DC energy source 118. As described in greater detail below, the control module 116 generates a PWM duty cycle control value that controls the duty cycle of the switches 1-8 to implement the appropriate switching pattern during a switching interval (e.g., the inverse of the switching frequency). During the switching interval (or PWM cycle), the control module 116 alternates between operating the switches 1-8 to effectively short-circuit nodes 132, 138 and cycle energy through the matrix conversion module 108 to apply a voltage across the inductor 110 before operating the switches 1-8 to release the stored energy and/or voltage of the inductor 110 (alternatively, the fly-back voltage). The sum of the fly-back voltage and the input voltage 180 at the AC interface 114 is applied to the primary windings 146 of the isolation module 106, resulting in a power transfer to nodes 122, 124 and/or DC energy source 118. In this manner, the control module 116 operates the switches 1-8 of the matrix conversion module 108 to alternate between cycling energy through the inductor 110 and delivering energy to the DC interface 102. As described in greater detail below, the percentage of the switching interval (or PWM cycle) that the matrix conversion module 108 is delivering energy to the DC interface 102 corresponds to the duty cycle of the matrix conversion module 108 during that respective switching interval.

In an exemplary embodiment, the control module 116 obtains or otherwise monitors the current 190 through the inductor 110 (e.g., a measured inductor current (i_(L)) via a current sensor electrically in series with the inductor 110), the current (indicated by arrow 185) through the capacitor 112 (e.g., a measured capacitor current (i_(CAP)) via a current sensor electrically in series with the capacitor 112), the input voltage 180 at the AC interface 114, and the output voltage 160 at the DC interface 102, and implements a feedforward control system to determine a PWM duty cycle control value for operating the switches 1-8 of the matrix conversion module 108, as described in greater detail below. In an exemplary embodiment, the control module 116 obtains measured instantaneous values for the inductor current (i_(L)), the capacitor current (i_(CAP)), the input voltage (V_(AC)) at the input interface 114, and the output voltage (V_(DC)) at the output interface 102 that are sampled, measured, or otherwise obtained at a particular instant in time during a current PWM cycle, wherein the PWM duty cycle control value determined by the control module 116 governs operation of the electrical converter during the subsequent PWM cycle. As described in greater detail below, in an exemplary embodiment, the feedforward control system implemented by the control module 116 generates a compensated PWM duty cycle control value that is scaled in a manner that accounts for voltage drops and/or energy losses across the switches 1-8, diodes 21-32 and isolation module 106 (or windings 144, 146) when operating the switches 1-8 of the matrix conversion module 108 to alternate between delivering energy and cycling energy through the inductor 110.

It should be understood that FIG. 1 is a simplified representation of an electrical system 100 for purposes of explanation and is not intended to limit the scope or applicability of the subject matter described herein in any way. Thus, although FIG. 1 depicts direct electrical connections between circuit elements and/or terminals, alternative embodiments may employ intervening circuit elements and/or components while functioning in a substantially similar manner. Additionally, although the electrical system 100 is described herein in the context of a matrix conversion module 108 for a vehicle, the subject matter is not intended to be limited to vehicular and/or automotive applications, and the subject matter described herein may be implemented in other applications where an energy conversion module is utilized to transfer energy using switching elements or in other electrical systems where feedforward control schemes are utilized to achieve power factor correction by modeling the input port as a loss-free resistor.

FIG. 2 depicts an exemplary embodiment of a feedforward control system 200 suitable for use by the control module 116 of FIG. 1. The control system 200 is configured to determine a compensated PWM duty cycle control value (U_(C)) for operating the matrix conversion module 108 to provide a desired DC output voltage (V_(REF)) at the DC interface 102. In this regard, the compensated PWM duty cycle control value (U_(C)) governs the duty cycle (d) for operating matrix conversion module 108 during a subsequent PWM cycle (or switching interval), which in turn, governs the respective timing and duty cycles of the switches 1-8 of the matrix conversion module 108 for implementing a desired switching pattern. The compensated PWM duty cycle control value is a value between zero and one that is equal to one minus the duty cycle (U_(C)=1−d), or alternatively, the duty cycle is equal to one minus the compensated PWM duty cycle control value (d=1−U_(C)). In this manner, the duty cycle is influenced by the compensated PWM duty cycle control value.

In an exemplary embodiment, the feedforward control system 200 includes a first summation block 202 configured to generate an output energy error value based on a difference between a desired energy output at a first input 204 and a measured energy output at a second input 206. In an exemplary embodiment, the desired energy output at the DC interface 102 is calculated or otherwise determined based on the desired DC output voltage (V_(REF)), for example, by squaring the desired DC output voltage (V_(REF) ²), and the measured energy output at the DC interface 102 is calculated or otherwise determined based on the measured instantaneous output voltage (V_(DC)), for example, by squaring the measured instantaneous output voltage (V_(DC) ²). The output energy error value is provided to the input of a power regulation block 208. The power regulation block 208 generates a desired AC input power reference value for producing the desired DC output power at the DC interface 102 based on the output energy error value.

In the illustrated embodiment, the desired AC input power reference value is provided to a current conversion block 210 that converts the desired AC input power reference value to an AC input current reference value representative of the required AC current at the AC interface 114 for producing the desired AC input power. The AC input current reference value corresponds to an AC input current at the AC interface 114 that is substantially in-phase with the AC input voltage 180 at the AC interface 114 to provide substantially unity power factor while producing the desired AC input power. In an exemplary embodiment, the current conversion block 210 generates or otherwise determines the AC input current reference value by multiplying the AC input power reference value by the measured AC voltage 180 at the AC interface 114 divided by the square of the root-mean-square (RMS) voltage at the AC interface 114.

In the illustrated embodiment, a second summation block 212 is configured to generate or otherwise provide an inductor current error value based on the difference between the measured inductor current (i_(L)) and an inductor current reference value. In an exemplary embodiment, the second summation block 212 estimates or otherwise determines the inductor current reference value as the difference between the AC input current reference value and the measured capacitor current (i_(CAP)) received at input 216. The second summation block 212 subtracts the inductor current reference value from the measured inductor current (i_(L)) received at input 214 to generate or otherwise obtain the inductor current error value, and provides the inductor current error value to a gain block 218 which multiplies the inductor current error value by a gain factor to translate or otherwise convert the inductor current error value to an AC input voltage error value. A third summation block 220 is configured to generate an AC input voltage reference value by adding the AC input voltage error value to the measured AC voltage (V_(AC)) at the AC interface 114, which is provided at input 222.

In the illustrated embodiment, the control system 200 includes a division block 224 configured to divide the AC input voltage reference value from the output of the third summation block 220 by the measured instantaneous output voltage (V_(DC)) provided at input 226 to obtain an uncompensated PWM duty cycle control value (U). In an exemplary embodiment, the AC input voltage reference value is divided by a measured instantaneous value of the DC voltage 160 at the DC interface 102, that is, the most recently sampled DC voltage 160 measured or otherwise obtained during the current PWM cycle (or current switching interval). In this regard, the output voltage 160 at the DC interface 102 includes both a DC voltage component and an AC voltage component at the second harmonic of the AC input frequency, for example, a DC voltage with a superimposed 120 Hz AC voltage for a 60 Hz AC energy source 120 coupled to AC interface 114. Thus, using a measured instantaneous DC output voltage (V_(DC)) to determine the output energy error value (e.g., by providing the square of the measured DC output voltage at input 206) introduces harmonic component that is reflected by the AC input voltage error value, which results in the AC input voltage reference value at the output of the third summation block 220 including a harmonic component. Dividing the AC input voltage reference value by the measured instantaneous DC output voltage (V_(DC)), which also includes the harmonic component, effectively cancels or otherwise eliminates the effect of the harmonic component on the uncompensated PWM duty cycle control value (U). As a result, the total harmonic distortion at the AC interface 114 is reduced. As described in greater detail below, the uncompensated PWM duty cycle control value (U) generated by the division block 224 is provided to a multiplication block 228 configured to multiply the uncompensated PWM duty cycle control value by a compensation scaling factor to obtain the compensated PWM duty cycle control value (U_(C)) at the output 230.

In an exemplary embodiment, the control system 200 includes a power estimation block 232 configured to determine or otherwise estimate the AC input power at the AC interface 114 and provide the result to a fourth summation block 234. For example, the power estimation block 232 may estimate the AC input power at the AC interface 114 by multiplying the measured AC voltage (V_(AC)) at the AC interface 114 provided at input 236 by the sum of the measured inductor current (i_(L)) provided at input 238 and the measured capacitor current (i_(CAP)) provided at input 240. The fourth summation block 234 is configured to generate an AC input power error value based on a difference between the estimated AC input power value and the desired AC input power reference value, for example, by subtracting the desired AC input power reference value from the output of the power regulation block 208 from the estimated AC input power signal from the output of the power estimation block 232.

In an exemplary embodiment, the AC input power error value is provided to a proportional-integral (PI) gain block 242 that converts the AC input power error value to a compensation scaling factor for adjusting or otherwise modifying the PWM duty cycle control value. As described above, the PWM duty cycle control value is multiplied by the compensation scaling factor at multiplication block 228 to obtain the compensated PWM duty cycle control value at the output 230. The coefficients of the PI gain block 242 are configured to generate a compensation scaling factor that is less than one, and approaches one as the AC input power error value approaches zero. In this manner, the compensation scaling factor reduces the PWM duty cycle control value and increases the duty cycle for operating the switches 1-8 of the matrix conversion module 108 in a manner that accounts for component losses in the charging system 100. For example, in the absence of the compensation scaling factor, unaccounted for component power losses within the charging system 100 may result in an uncompensated PWM duty cycle control value that provides a duty cycle for operating the switches 1-8 of the matrix conversion module 108 that is less than the duty cycle that is actually needed to overcome the component losses to produce the desired DC output voltage at the DC interface 102, which, in turn, may reduce the bandwidth and limit the dynamic performance of the control system.

Referring now to FIG. 3, in an exemplary embodiment, an electrical system may be configured to perform a control process 300 and additional tasks, functions, and operations described below. The various tasks may be performed by software, hardware, firmware, or any combination thereof. For illustrative purposes, the following description may refer to elements mentioned above in connection with FIGS. 1-2. In practice, the tasks, functions, and operations may be performed by different elements of the described system, such as the control module 116, the control system 200, and/or the matrix conversion module 108. It should be appreciated that any number of additional or alternative tasks may be included, and may be incorporated into a more comprehensive procedure or process having additional functionality not described in detail herein.

Referring to FIG. 3, and with continued reference to FIGS. 1-2, in an exemplary embodiment, the control process 300 is performed in response to an interrupt request that is generated or otherwise received by the control module 116 at fixed regular intervals. For example, in accordance with one embodiment, the control module 116 receives an interrupt signal every twenty microseconds that causes the control module 116 to execute the control process 300. The control initializes or begins by obtaining measured values for the input voltage at the input interface, the output voltage at the output interface, the current through the capacitor, and the current through the inductor (tasks 302, 304, 306, 308). In this regard, the control module 116 and/or control system 200 obtains instantaneous values for the input voltage 180 at the AC interface 114, the output voltage 160 at the DC interface 102, the current 185 through capacitor 112, and the current 190 through inductor 110 by sampling, sensing, or otherwise measuring the respective values during a current PWM cycle (or switching interval), resulting in a measured AC input voltage (V_(AC)), a measured DC output voltage (V_(DC)), a measured capacitor current (i_(CAP)), and a measured inductor current (i_(L)).

In an exemplary embodiment, the control process 300 continues by identifying or otherwise determining a desired output voltage for the charging system at the output interface (task 310). For example, in accordance with one embodiment, the control module 116 may identify a desired value (V_(REF)) for the DC output voltage 160 at the DC interface 102 in response to receiving a command signal indicative of the desired DC output voltage (V_(REF)) from a controller associated with the DC energy source 118 (e.g., a battery controller). In another embodiment, the control module 116 may be preconfigured or otherwise assume that the desired DC output voltage 160 will always be equal to a constant value (e.g., an anticipated or expected voltage for the DC energy source 118).

After identifying the desired voltage at the DC interface, the control process 300 continues by determining an input power reference for the input interface based on the desired output voltage at the output interface (task 312). As described above, in an exemplary embodiment, the control module 116 and/or control system 200 determines an output energy error value based on a difference between a square of the desired DC output voltage (V_(REF) ²) and a square of the measured DC output voltage (V_(DC) ²), and generates a desired input power reference value for producing the desired voltage (V_(REF)) at the DC interface 102 based on the output energy error value.

In an exemplary embodiment, the control process 300 continues by determining an uncompensated PWM duty cycle control value for operating the matrix conversion module based on the input power reference value (task 314). In this regard, in an exemplary embodiment, The control module 116 and/or control system 200 converts the desired input power reference value to an AC input current reference value, subtracts the measured capacitor current (i_(CAP)) from the AC input current reference value to obtain an inductor current reference value, and subtracts the inductor current reference value from the measured inductor current (i_(L)) to obtain an inductor current error value. The control module 116 and/or control system 200 multiplies the inductor current error value by a gain factor to translate or otherwise convert the inductor current error value to an AC input voltage error value that is added to the measured AC input voltage (V_(AC)) to obtain an AC input voltage reference value. It will be appreciated in the art that the gain factor may be selected or otherwise chosen to provide a desired bandwidth for the control system 200. The control module 116 and/or control system 200 continues by dividing the AC input voltage reference value by the measured DC output voltage (V_(DC)), that is, an instantaneous value for the output voltage 160 at the DC interface 102 obtained during the current PWM cycle (or switching interval), to obtain the uncompensated PWM duty cycle control value for operating the matrix conversion module 108 during the next PWM cycle.

In an exemplary embodiment, the control process 300 determines an input power error value and adjusts the uncompensated PWM duty cycle control value in a manner that is influenced by the input power error value to obtain a compensated PWM duty cycle control value (tasks 316, 318). In this regard, as described above, the control module 116 and/or control system 200 determines or otherwise estimates the input power at the AC interface 114 by multiplying the measured AC input voltage (V_(AC)) by the measured AC input current, that is, the sum of the measured capacitor current (i_(CAP)) and the measured inductor current (i_(L))). The control module 116 and/or control system 200 continues by subtracting the AC input power reference value from the estimated input power value to obtain the input power error value. As described above, the input power error value is provided to a PI gain block 242 to obtain a compensation scaling factor that is less than one. The uncompensated PWM duty cycle control value is then multiplied by the compensation scaling factor to obtain a compensated PWM duty cycle control value. In this manner, the compensation scaling factor decreases the PWM duty cycle control value (or increases the duty cycle) in a manner that accounts for component losses based on the input power error.

The control process 300 continues by determining PWM command signals for operating the switches of the matrix conversion module based on the compensated PWM duty cycle control value for the matrix conversion module, and operating the switches of the matrix conversion module in accordance with the PWM command signals (tasks 320, 322). In this regard, the control module 116 determines PWM command signals for operating switches 1-8 during the next PWM cycle such that the matrix conversion module 108 delivers energy from the AC interface 114 to the DC interface 102 during the next PWM cycle at a duty cycle (d) equal to one minus the compensated PWM duty cycle control value (d=1−U_(C)). During the next PWM cycle, the control module 116 operates the switches 1-8 of the matrix conversion module 108 in accordance with the PWM command signals to deliver energy from the AC interface 114 to the DC interface 102 for a percentage of the PWM cycle corresponding to the duty cycle (d). In this regard, the control module 116 operates the switches 1-8 of the matrix conversion module 108 to cycle or otherwise circulate the inductor current through the matrix conversion module 108 without delivering energy to the DC interface 102 for a percentage of the PWM cycle corresponding to the compensated PWM duty cycle control value (U_(C)).

For example, referring again to FIG. 1, when the voltage at the AC interface 114 is positive, the control module 116 concurrently closes (or turns on) switches 2, 4, 6 and 8 to cycle or otherwise circulate the inductor current (i_(L)) through the matrix conversion module 108 for a first time period (t₁) corresponding to a first portion of the PWM cycle. Switches 2 and 6 and diodes 21 and 25 each conduct at least a portion of the inductor current (i_(L)) at node 132, and switches 8 and 4 and diodes 27 and 23 each conduct the portion of the inductor current flowing through switches 2 and 6 and diodes 21 and 25, respectively, to node 138. The control module 116 subsequently opens (or turns off) switches 6 and 8 while maintaining switches 2 and 4 in a closed state to conduct the inductor current (i_(L)) from node 132 to node 138 through the primary windings 146 and apply a voltage across the primary windings 146, thereby delivering energy to the DC interface 102 (via secondary windings 144 and the energy conversion module 104) for a second time period (t₂) corresponding to a second portion of the PWM cycle. The control module 116 then concurrently closes (or turns on) switches 2, 4, 6 and 8 to cycle or otherwise circulate the inductor current (i_(L))) through the matrix conversion module 108 for a third time period (t₃) corresponding to a third portion of the PWM cycle. The control module 116 subsequently opens (or turns off) switches 2 and 4 while maintaining switches 6 and 8 in a closed state to conduct the inductor current (i_(L)) from node 132 to node 138 through the primary windings 146 and apply a voltage across the primary windings 146 and thereby deliver energy to the DC interface 102 (via secondary windings 144 and the energy conversion module 104) for a fourth time period (t₄) corresponding to the remaining portion of the PWM cycle. The sum of the four time periods correspond to the duration of the PWM cycle, wherein the sum of the first time period and the third time period divided by the sum of the four time periods corresponds to the compensated PWM duty cycle control value

$\left( {{e.g.},{U_{C} = \frac{t_{1} + t_{3}}{t_{1} + t_{2} + t_{3} + t_{4}}}} \right)$ and the sum of the second time period and the fourth time period divided by the sum of the four time periods corresponds to the duty cycle

$\left( {{e.g.},{d = \frac{t_{2} + t_{4}}{t_{1} + t_{2} + t_{3} + t_{4}}}} \right).$

Conversely, when the voltage at the AC interface 114 is negative, the control module 116 concurrently closes (or turns on) switches 1, 3, 5 and 7 to cycle or otherwise circulate the inductor current (i_(L)) through the matrix conversion module 108 for a first time period (t₁). The control module 116 subsequently opens (or turns off) switches 5 and 7 while maintaining switches 1 and 3 in a closed state to conduct the inductor current (i_(L)) from node 138 to node 132 through the primary windings 146 and apply a voltage across the primary windings 146, and thereby delivers energy to the DC interface 102 (via secondary windings 144 and the energy conversion module 104) for a second time period (t₂). The control module 116 then concurrently closes (or turns on) switches 1, 3, 5 and 7 to cycle or otherwise circulate the inductor current (i_(L)) through the matrix conversion module 108 for a third time period (t₃), and subsequently opens (or turns off) switches 1 and 3 while maintaining switches 5 and 7 in a closed state to conduct the inductor current (i_(L)) from node 138 to node 132 through the primary windings 146 and apply a voltage across the primary windings 146, and thereby delivers energy to the DC interface 102 (via secondary windings 144 and the energy conversion module 104) for a fourth time period (t₄). As set forth above, the sum of the four time periods correspond to the duration of the PWM cycle, wherein the ratio of the sum of the first time period and the third time period to the duration of the PWM cycle corresponds to the compensated PWM duty cycle control value, and the ratio of the sum of the second time period and the fourth time period to the duration of the PWM cycle corresponds to the duty cycle (d).

Referring again to FIG. 3, the control process 300 may repeat throughout operation of the electrical system 100 to produce a desired DC output voltage at the DC interface 102. In this regard, while operating the matrix conversion module 108 to deliver energy to the DC interface 102 in accordance with the duty cycle (d) during one PWM cycle, the control module 116 and/or control system 200 repeats the control process 300 to determine a compensated PWM duty cycle control value for the next PWM cycle, and so on.

To briefly summarize, one advantage of the systems and/or methods described above is that a feedforward control system may be utilized to operate a matrix conversion module to achieve a desired DC output voltage while at the same time achieving substantially unity power factor and low total harmonic distortion at the AC input. As noted above, a compensation scaling factor is used to increase the duty cycle for operating the matrix conversion module in a manner that accounts for component losses. As a result, the accuracy and dynamic performance of the feedforward control system is improved.

For the sake of brevity, conventional techniques related to electrical energy and/or power conversion, electrical charging systems, power converters, pulse-width modulation (PWM), and other functional aspects of the systems (and the individual operating components of the systems) may not be described in detail herein. Furthermore, the connecting lines shown in the various figures contained herein are intended to represent exemplary functional relationships and/or physical couplings between the various elements. It should be noted that many alternative or additional functional relationships or physical connections may be present in an embodiment of the subject matter.

Techniques and technologies may be described herein in terms of functional and/or logical block components, and with reference to symbolic representations of operations, processing tasks, and functions that may be performed by various computing components or devices. It should be appreciated that the various block components shown in the figures may be realized by any number of hardware, software, and/or firmware components configured to perform the specified functions. For example, an embodiment of a system or a component may employ various integrated circuit components, e.g., memory elements, digital signal processing elements, logic elements, look-up tables, or the like, which may carry out a variety of functions under the control of one or more microprocessors or other control devices.

The foregoing description refers to elements or nodes or features being “connected” or “coupled” together. As used herein, unless expressly stated otherwise, “connected” means that one element/node/feature is directly joined to (or directly communicates with) another element/node/feature, and not necessarily mechanically. Likewise, unless expressly stated otherwise, “coupled” means that one element/node/feature is directly or indirectly joined to (or directly or indirectly communicates with) another element/node/feature, and not necessarily mechanically. Thus, although the figures may depict one exemplary arrangement of elements or direct electrical connections between circuit elements, additional intervening elements, devices, features, or components may be present in an embodiment of the depicted subject matter. In addition, certain terminology may also be used herein for the purpose of reference only, and thus is not intended to be limiting. The terms “first”, “second” and other such numerical terms referring to structures do not imply a sequence or order unless clearly indicated by the context.

As used herein, a “node” means any internal or external reference point, connection point, junction, signal line, conductive element, or the like, at which a given signal, logic level, voltage, data pattern, current, or quantity is present. Furthermore, two or more nodes may be realized by one physical element (and two or more signals can be multiplexed, modulated, or otherwise distinguished even though received or output at a common node).

While at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or embodiments described herein are not intended to limit the scope, applicability, or configuration of the claimed subject matter in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing the described embodiment or embodiments. It should be understood that various changes can be made in the function and arrangement of elements without departing from the scope defined by the claims, which includes known equivalents and foreseeable equivalents at the time of filing this patent application. 

What is claimed is:
 1. An electrical system comprising: an input interface; an output interface; a first energy conversion module coupled between the input interface and the output interface, the first energy conversion module including one or more switching elements; and a control module coupled to the first energy conversion module, the input interface, and the output interface, wherein the control module is configured to: determine a duty cycle control value for operating the first energy conversion module to produce a desired voltage at the output interface; determine an input power error at the input interface; adjust the duty cycle control value in a manner that is influenced by the input power error, resulting in a compensated duty cycle control value; and operate the one or more switching elements of the first energy conversion module to deliver energy to the output interface with a duty cycle that is influenced by the compensated duty cycle control value.
 2. The electrical system of claim 1, wherein the control module is configured to: determine a compensation scaling factor based on the input power error; and multiply the duty cycle control value by the compensation scaling factor to obtain the compensated duty cycle control value.
 3. The electrical system of claim 2, wherein the control module is configured to determine the input power error by: determining an input power reference for the input interface based on the desired voltage at the output interface and a measured voltage at the output interface; estimating input power at the input interface, resulting in an estimated input power at the input interface; and determining a difference between the input power reference and the estimated input power.
 4. The electrical system of claim 3, further comprising: an inductive element coupled between the input interface and the first energy conversion module; and a capacitive element coupled between the input interface and the inductive element, the capacitive element being configured electrically parallel to the input interface.
 5. The electrical system of claim 4, wherein the control module is configured to determine the duty cycle control value by: determine an inductor current reference based on the input power reference; determine an input voltage reference based on a difference between the inductor current reference and a measured current through the inductive element; and divide the input voltage reference by a measured voltage at the output interface to obtain the duty cycle control value.
 6. The electrical system of claim 1, further comprising: a second energy conversion module coupled to the output interface; and an isolation module coupled between the first energy conversion module and the second energy conversion module, the isolation module providing galvanic isolation between the first energy conversion module and the second energy conversion module.
 7. The electrical system of claim 6, further comprising: an inductive element coupled between the input interface and the first energy conversion module; and a capacitive element coupled between the input interface and the inductive element, the capacitive element being configured electrically parallel to the input interface.
 8. The electrical system of claim 7, wherein the first energy conversion module comprises a matrix conversion module.
 9. The electrical system of claim 8, wherein the matrix conversion module comprises: a first node; a second node; a third node; a fourth node; a first switching element coupled between the first node and the third node, the first switching element being configured to allow current from the third node to the first node when the first switching element is closed; a second switching element coupled between the first switching element and the third node, the second switching element being configured to allow current from the first node to the third node when the second switching element is closed; a third switching element coupled between the first node and the fourth node, the third switching element being configured to allow current from the fourth node to the first node when the third switching element is closed; a fourth switching element coupled between the third switching element and the fourth node, the fourth switching element being configured to allow current from the first node to the fourth node when the fourth switching element is closed; a fifth switching element coupled between the second node and the fourth node, the fifth switching element being configured to allow current from the second node to the fourth node when the fifth switching element is closed; a sixth switching element coupled between the fifth switching element and the second node, the sixth switching element being configured to allow current from the fourth node to the second node when the sixth switching element is closed; a seventh switching element coupled between the second node and the third node, the seventh switching element being configured to allow current from the second node to the third node when the seventh switching element is closed; and an eighth switching element coupled between the seventh switching element and the second node, the eighth switching element being configured to allow current from the third node to the second node when the eighth switching element is closed.
 10. The electrical system of claim 9, wherein: the inductive element is coupled electrically in series between the first node of the matrix conversion module and a first input node of the input interface; the second node of the matrix conversion module is coupled to a second input node of the input interface; the capacitive element is coupled between the first input node and the second input node; the isolation module comprises a first set of windings coupled between the third node and the fourth node and a second set of windings coupled to the second energy conversion module, the second set of windings being magnetically coupled to the first set of windings; and the control module is configured to operate the first switching element, the second switching element, the third switching element, the fourth switching element, the fifth switching element, the sixth switching element, the seventh switching element, and the eighth switching element to deliver energy to the output interface with the duty cycle corresponding to the duty cycle control value.
 11. The electrical system of claim 10, wherein the control module is configured to: determine an input power reference for the input interface based on the desired voltage at the output interface and a measured voltage at the output interface; determine an estimated input power at the input interface; determine a compensation scaling factor based on a difference between the input power reference and the estimated input power; and multiply the duty cycle control value by the compensation scaling factor to obtain the compensated duty cycle control value.
 12. A method for delivering energy from an input interface to an output interface using an energy conversion module coupled between the input interface and the output interface, the energy conversion module including one or more switching elements coupled to an inductive element, the method comprising: determining an input power reference for the input interface based on a desired output voltage at the output interface; determining a duty cycle control value based on the input power reference; determining an input power error based on a difference between an estimated input power at the input interface and the input power reference; adjusting the duty cycle control value in a manner that is influenced by the input power error to obtain a compensated duty cycle control value; and operating the one or more switching elements to deliver energy from the input interface to the output interface with a duty cycle influenced by the compensated duty cycle control value.
 13. The method of claim 12, further comprising determining a compensation scaling factor based on the input power error, wherein adjusting the duty cycle control value comprises multiplying the duty cycle control value by the compensation scaling factor to obtain the compensated duty cycle control value.
 14. The method of claim 13, further comprising determining the estimated input power based at least in part on a measured current through the inductive element and a measured voltage at the input interface.
 15. The method of claim 14, wherein determining the duty cycle control value comprises: determining an inductor current reference based on the input power reference; determining an input voltage reference based on a difference between the inductor current reference and the measured current through the inductive element; and dividing the input voltage reference by a measured voltage at the DC interface to obtain the duty cycle control value.
 16. The method of claim 15, wherein determining the estimated input power comprises multiplying the measured voltage at the input interface by a sum of a measured current through the inductive element and a measured current through a capacitive element, the capacitive element being configured electrically parallel to the input interface.
 17. The method of claim 12, the duty cycle corresponding to one minus the compensated duty cycle control value, wherein operating the one or more switching elements to deliver energy from the input interface to the output interface with the duty cycle comprises: determining pulse-width modulation (PWM) command signals for operating the one or more switching elements to deliver energy from the AC energy source to the DC energy source for a percentage of a switching interval, the percentage being equal to the duty cycle; and operating the one or more switching elements in accordance with the PWM command signals.
 18. An electrical system comprising: a direct current (DC) interface; an alternating current (AC) interface; an isolation module including a first set of windings magnetically coupled to a second set of windings; a first energy conversion module coupled between the DC interface and the first set of windings; a second conversion module coupled to the second set of windings, the second conversion module including a plurality of switches; an inductive element coupled between the second conversion module and the AC interface; and a control module coupled to the second conversion module, wherein the control module is configured to: determine an input power reference for producing a desired voltage at the DC interface based on the desired voltage and a measured voltage at the DC interface; determine an input power error at the AC interface based on a difference between an estimated input power at the AC interface and the input power reference; determine a compensated pulse-width modulation (PWM) duty cycle control value for operating the first energy conversion module based on the input power reference and the input power error; and operate the plurality of switches of the second conversion module in accordance with the compensated PWM duty cycle control value.
 19. The electrical system of claim 18, further comprising a capacitive element coupled between the AC interface and the inductive element, the capacitive element being configured electrically parallel to the AC interface, wherein the control module is configured to determine the estimated input power at the AC interface based on a measured voltage at the AC interface, a measured current thought the inductive element, and a measured current through the capacitive element.
 20. The electrical system of claim 19, wherein the control module is configured to: determine an uncompensated PWM duty cycle control value based on the input power reference; determine a compensation scaling factor based on the input power error; and multiply the uncompensated PWM duty cycle control value by the compensation scaling factor to obtain the compensated PWM duty cycle control value. 